CN103508353A - Control system and method for downward-sliding prevention of secondary hoisting of winch - Google Patents
Control system and method for downward-sliding prevention of secondary hoisting of winch Download PDFInfo
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- CN103508353A CN103508353A CN201310456788.2A CN201310456788A CN103508353A CN 103508353 A CN103508353 A CN 103508353A CN 201310456788 A CN201310456788 A CN 201310456788A CN 103508353 A CN103508353 A CN 103508353A
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Abstract
The invention relates to a control system and method for downward-sliding prevention of secondary hoisting of a winch. The control system for downward-sliding prevention of secondary hoisting of the winch comprises an oil pump, an oil tank, a proportional directional valve, a winch motor, a balance valve, a winch brake, a brake valve and an electronic control handle, wherein the brake valve is connected with the winch brake, and controls the winch brake to carry out braking on the winch motor, and the balance valve is arranged on an oil circuit between the winch motor and the proportional directional valve. The control system for downward-sliding prevention of secondary hoisting of the winch further comprises a programmable logic controller, wherein the programmable logic controller is connected with the proportional directional valve, the brake valve and the electronic control handle, and is used for controlling the brake valve to carry out delayed opening according to obtained winch system pressure in the process of secondary hoisting. Due to the facts that built time corresponding to pressure is different when a winch system hoists weights with different loads, and the PLC is used for controlling the brake valve to carry out delayed opening, the winch brake only can be started when torque built by a hydraulic motor is higher than resistance torque generated by the weights, and the phenomenon that downward sliding happens in the process of secondary hoisting is avoided.
Description
Technical field
The present invention relates to construction machinery and equipment control field, relate in particular to the anti-fall control system of a kind of elevator secondary lifting and method.
Background technology
In the working process of runabout crane, the assembly pulley of weight by suspension hook and crane arm head and steel rope by weight transfer on rotating platform of crane structure.Utilize HM Hydraulic Motor on elevator to order about elevator and rotate, by being wrapped in the transmission of the steel rope on elevator, make the weight that is suspended on crane arm head can carry out lifting.In the process hoisting at weight, often certain highly stays for some time needs halfway, and then continues up to hoist.This process that continues up to hoist is called " secondary lifting ".
Weight is skyborne to stop over to keep being to rely on and is arranged on the balance cock in HM Hydraulic Motor and is arranged on that the hoist brake of elevator inside brakes to realize to hoisting mechanism.Under the off working state of elevator, hoist brake is in normally off.Carrying out when weight hoists, hydraulic efficiency pressure system generally all can be when giving HM Hydraulic Motor fuel feeding conventionally, and to elevator, solenoid valve is controlled in braking,, by discharging hoist brake to hoist brake fuel feeding, elevator can accessiblely be rotated.But, when carrying out secondary lifting, because weight produces resisting moment, and HM Hydraulic Motor needs time enough to remove to set up the resisting moment that an enough large lifting moment produces to overcome weight, the phenomenon that at this moment just easily there will be first of short duration downslide of weight to promote again.
In order to solve the problem of the of short duration downslide of this weight, the method of at present having taked pressure memory valve and PLC controller to jointly control when hoisting weight, be that the pressure while promoting for the first time stored in PLC controller record, when promoting for the second time, only when hoisting system pressure reaches previously for the first time during adherence pressure of PLC storage, by PLC controller output control signal, go the electromagnetic valve of control presssure memory valve inside to open, thereby reach accurate control hoist brake, open the downslide phenomenon occurring to eliminate second lift.
The mode of this pressure memory need to install pressure sensor additional, increased the cost of equipment, and when pressure memory storage, face the problem of when storing, promote the Acceleration of starting stage and promoting deceleration stop phase, pressure can change, there is a pressure to store the selection problem on opportunity, select the storage improper time to drg Time Delay Opening on opportunity to be certain to influential, and then out of reach expected effect.
Summary of the invention
The object of the invention is to propose the anti-fall control system of a kind of elevator secondary lifting and method, the downslide phenomenon occurring in the time of effectively eliminating second lift.
For achieving the above object, the invention provides the anti-fall control system of a kind of elevator secondary lifting, comprise oil pump, fuel tank, proportional reversing valve, hoist motor, balance cock, hoist brake, brake activation valve and electric control handle, the oil outlet of described oil pump and fuel tank communicate with oil inlet and the return opening of described proportional reversing valve respectively, two hydraulic fluid ports of described hoist motor communicate with two actuator ports of described proportional reversing valve respectively, described brake activation valve is connected with described hoist brake, control the braking of described hoist brake to described hoist motor, described balance cock is arranged on the oil circuit between described hoist motor and described proportional reversing valve, wherein, also comprise: programmable logic controller (PLC) (Programmable Logic Controller, be called for short PLC), be connected with described proportional reversing valve, brake activation valve and electric handle respectively, when secondary lifting, according to the hoisting system pressure obtaining, control described brake activation valve Time Delay Opening.
Further, also comprise limiter of moment, described programmable logic controller (PLC) is connected with described limiter of moment, according to the dynameter of the current actual weight value of described limiter of moment collection and assembly pulley, calculate the pulling force of single wire rope, then go out described hoisting system pressure according to the pulling force of described single wire rope and the first preset ratio coefficient calculations.
Further, also comprise pressure sensor, described programmable logic controller (PLC) is connected with described pressure sensor, and the pressure value collecting according to described pressure sensor is determined described hoisting system pressure.
Further, described programmable logic controller (PLC) specifically comprises: handle signal processing unit, system pressure obtain unit, time delay control unit and proportional valve control unit, described handle signal processing unit converts the operation signal receiving from described electric handle to predetermined current value, it is constant that described proportional valve control unit makes described proportional reversing valve obtain the electric opening degree of realizing described proportional reversing valve according to described predetermined current value, and obtain according to described system pressure hoisting system pressure and the second preset ratio coefficient calculations time delay length that unit provides, described time delay control unit is controlled described brake activation valve Time Delay Opening according to described time delay length, after described brake activation valve is opened, recover the corresponding control relation between the opening degree of described electric handle position and described proportional reversing valve.
Further, described programmable logic controller (PLC) also comprises: slope processing unit, after described brake activation valve is opened, described slope processing unit processes to recover the corresponding control relation between the opening degree of described electric handle position and described proportional reversing valve by slope.
For achieving the above object, the invention provides a kind of anti-fall control method of elevator secondary lifting based on the anti-fall control system of aforementioned elevator secondary lifting, comprising:
When elevator secondary lifting operation start, programmable logic controller (PLC) obtains current hoisting system pressure;
According to converting the operation signal receiving from electric handle to predetermined current value, and it is electric according to described predetermined current value, proportional reversing valve to be obtained, and the opening degree of realizing described proportional reversing valve is constant;
According to described hoisting system pressure and the second preset ratio coefficient calculations time delay length, and control brake activation valve Time Delay Opening according to described time delay length;
After described brake activation valve is opened, recover the corresponding control relation between the opening degree of described electric handle position and described proportional reversing valve.
Further, the operation that described programmable logic controller (PLC) obtains current hoisting system pressure is specially:
According to the dynameter of the current actual weight value of limiter of moment collection and assembly pulley, calculate the pulling force of single wire rope, then go out described hoisting system pressure according to the pulling force of described single wire rope and the first preset ratio coefficient calculations.
Further, the operation that described programmable logic controller (PLC) obtains current hoisting system pressure is specially:
The pressure value collecting according to pressure sensor is determined described hoisting system pressure.
Further, the operation of the corresponding control relation between the opening degree of the described electric handle of described recovery position and described proportional reversing valve is specially:
By slope, process to recover the corresponding control relation between the opening degree of described electric handle position and described proportional reversing valve.
Based on technique scheme, the present invention is hanging according to hoisting system the asynchronism(-nization) that corresponding pressure is set up while carrying unequally loaded weight, by PLC, control brake activation valve Time Delay Opening, to make the moment that HM Hydraulic Motor is set up just open hoist brake when being greater than the resisting moment of weight generation, thereby occur the phenomenon of downslide while having avoided second lift.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the application's a part, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of an embodiment of the anti-fall control system of elevator secondary lifting of the present invention.
Fig. 2 is the structural representation of another embodiment of the anti-fall control system of elevator secondary lifting of the present invention.
Fig. 3 is the concrete structure schematic diagram of PLC in the anti-fall control system embodiment of elevator secondary lifting of the present invention.
Fig. 4 is the schematic flow sheet of an embodiment of the anti-fall control method of elevator secondary lifting of the present invention.
The specific embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
For existing pressure memory scheme, the present invention considers from another one angle, the pressure while not needing storage to promote for the first time, but from obtaining system pressure, accurately control the method for elevator handle, realized equally the Based Intelligent Control of hoist brake.
As shown in Figure 1, be the structural representation of an embodiment of the anti-fall control system of elevator secondary lifting of the present invention.In the present embodiment, the anti-fall control system of elevator secondary lifting comprises oil pump 7, fuel tank 8, proportional reversing valve 6, hoist motor 2, balance cock 5, hoist brake 1, brake activation valve 4, electric control handle 12 and PLC9.The oil outlet of oil pump 7 and fuel tank 8 communicate with oil inlet and the return opening of proportional reversing valve 6 respectively, two hydraulic fluid ports of hoist motor 2 communicate with two actuator ports of proportional reversing valve 6 respectively, brake activation valve 4 is connected with hoist brake 1, controls the braking of 1 pair of hoist motor 2 of hoist brake.Balance cock 5 is arranged on the oil circuit between hoist motor 2 and proportional reversing valve 6.PLC9 is connected with proportional reversing valve 6, brake activation valve 4 and electric handle 12 respectively, when secondary lifting, according to the hoisting system pressure obtaining, controls brake activation valve 4 Time Delay Openings.
According to invention thinking of the present invention, the key that solves double slide problem is to control hoist brake 1 Time Delay Opening.The steel rope 13 that hoist motor 2 is drawn is walked around assembly pulley 10 and is connected on weight 11, when hoisting system hoisting heavy 11, if hoist brake 1 can just be opened after hoisting system is set up enough pressure, the problem of first of short duration downslide in the time of just can avoiding weight 11 to occur second lift.And the definite size that need to consider hoisting system pressure of the needed delay time of Time Delay Opening of the brake activation valve 4 of control hoist brake 1, therefore PLC9 is just responsible for according to the hoisting system pressure obtaining, controlling brake activation valve 4 Time Delay Openings when secondary lifting, thereby solves the problem of double slide.
Under this thinking, the opening and closing time how accurately to control hoist brake is also extremely important, and determining of this delay time (being the time that hoisting system pressure is set up) is relevant with the size of hoisting system pressure itself and the opening degree of proportional reversing valve 6.In other words, if know the opening degree size of hoisting system pressure and proportional reversing valve 6, just can calculate accurately the time of hoist brake 1 Time Delay Opening, thereby reach the object of accurate control, so just can be when avoiding occurring the downslide phenomenon of second lift, further avoid occurring that hoist brake 1 lags behind to open causes hoist brake 1 undue wear, and the unexpected upper punch phenomenon of hoist brake 1 after opening.
Determining of hoisting system pressure can realize by increase pressure sensor in hoisting system, by pressure sensor, detect hoisting system pressure, and the pressure value collecting according to pressure sensor by the PLC being connected with pressure sensor is determined hoisting system pressure.
Another kind of preferred mode is not increase the components and parts such as pressure sensor, it is the anti-fall control system of elevator secondary lifting shown in Fig. 2, on the basis of Fig. 1 embodiment, further comprise limiter of moment 14, PLC9 is connected with limiter of moment 14, the current actual weight value gathering according to limiter of moment 14 and the dynameter of assembly pulley are calculated the pulling force of single wire rope 13, then go out elevator system pressure according to the pulling force of single wire rope 13 and the first preset ratio coefficient calculations.
In the present embodiment, because hoisting system pressure is directly related with the pulling force of single wire rope on elevator 13, and the multiplying power of the pulling force size of single wire rope 13 and the size of hoisting heavy 11 and assembly pulley 10 is relevant, relevant with the ratio of the multiplying power of weight 11 and assembly pulley 10., hoisting heavy 11 can be determined current actual weight by limiter of moment 14.So only the current actual weight of reading need to be got final product to obtain to the pulling force size of single-strand rope 13 divided by the multiplying power of steel rope from limiter of moment 14, and the direct relation in direct ratio of pressure of this value of thrust and hoisting system.Wherein, the first preset ratio coefficient is the directly proportional coefficient of hoisting system pressure and individual wire rope tension, for the pulling force by single wire rope, calculates hoisting system pressure.This parameter can obtain by test of many times, and its number range is relevant with lift heavy amount and multiplying power, is a floating number.
The opening degree of proportional reversing valve 6 is to handle electric control handle 12 incoming signals to PLC9 by operator, PLC9 processes after incoming signal by analysis, output control signal control ratio change-over valve 6, corresponding with position than the value of opening degree and the driving velocity of electric control handle 12 of the routine valve 6 of commutation.
In order accurately to calculate the delay time of drg 1, just must calculate in real time the pressure of hoisting system and the opening degree of apportioning valve 6; Hoisting system pressure can be calculated by principle above, and this force value can directly be reacted the situation of change of the load of hoisting heavy 11; The opening degree of apportioning valve 6, along with operator operation electric control handle 12 is ceaselessly changing, cannot accurately calculate.
In order to address this problem, in another embodiment, can consider when hoisting system pressure is F, suppose that the opening degree of proportional reversing valve 6 is certain, so the delay time t of brake activation valve 4 and force value F proportional relationship.Because delay time was less than 1 second, shorter, the variation of engine speed is negligible; The delay time t of so accurate calculating brake activation valve 4 just can be by calculating hoisting system pressure F with the second preset ratio coefficient of calculating by test of many times in advance.The second preset ratio coefficient is the directly proportional coefficient of the delay time of hoisting system pressure and brake activation valve, for passing through the delay time of hoisting system calculation of pressure brake activation valve.This parameter can obtain by test of many times, is a floating number.
In order to make the opening degree of proportional reversing valve 6 certain, consider that the opening degree of proportional reversing valve 6 becomes one-to-one relationship with electric control handle 12 present position in the situation that of normal operation so.How operator operates the very large uncertainty of existence of electric control handle 12, pushes away manyly or few, pushes away soon or slow, or sometimes fast and sometimes slow all likely, make the opening degree of apportioning valve 6 change complicated.Therefore simplified in the present embodiment this link, according to the test of many times of theory and practice, the delay time of brake activation valve 4 is the longest can be over 1 second yet, within the so short time, can allow apportioning valve 6 opening degrees remain on a fixing value completely, as long as electric control handle 12 is pushed, leave initial position, PLC9 removes control ratio change-over valve 6 with regard to exporting a fixing current value, this current value and electric control handle 12 position and speed are irrelevant, by principle above, just can calculate time t.
Specifically, in the present embodiment PLC(referring to Fig. 3) specifically comprise following processing unit: handle signal processing unit 91, system pressure obtain unit 92, time delay control unit 93 and proportional valve control unit 94, wherein, handle signal processing unit 91 converts the operation signal receiving from electric handle 12 to predetermined current value (i.e. fixing current value), proportional valve control unit 94 according to predetermined current value make proportional reversing valve 6 the electric opening degree that realize proportional reversing valve 6 is constant, and obtain according to system pressure hoisting system pressure and the second preset ratio coefficient calculations time delay length that unit 92 provides, time delay control unit 93 is controlled brake activation valve 4 Time Delay Openings according to this time delay length calculating, after brake activation valve 4 is opened, recover the corresponding control relation between the opening degree of electric handle 12 positions and proportional reversing valve 6.
Consider and when unexpected recovery is normally controlled, easily occur impact phenomenon, therefore can also in PLC9, increase slope processing unit, at brake activation valve, open Hou， slope processing unit and by slope, process to recover the corresponding control relation between the opening degree of electric handle position and described proportional reversing valve.Process on slope is exactly the routine processes of utilizing PLC, make the current value of current proportional reversing valve mild become the current value being determined by electric handle position, this process can guarantee not can be due to both difference between currents excessive " current jump impact " phenomenon of likely occurring of causing.
The embodiment of the anti-fall control system of each elevator secondary lifting based on above, Fig. 4 shows the flow process of an embodiment of the anti-fall control method of elevator secondary lifting of the present invention, comprising:
Step 101, when elevator secondary lifting operation start, PLC obtains current hoisting system pressure;
Step 102, PLC are according to converting the operation signal receiving from electric handle to predetermined current value, and it is electric according to predetermined current value, proportional reversing valve to be obtained, and the opening degree of realizing proportional reversing valve is constant;
Step 103, PLC be according to hoisting system pressure and the second preset ratio coefficient calculations time delay length, and control brake activation valve Time Delay Opening according to time delay length;
Step 104, after brake activation valve is opened, PLC recovers the corresponding control relation between the opening degree of electric handle position and proportional reversing valve.
Wherein, the mode that in step 101, PLC obtains current hoisting system pressure can adopt the pulling force of calculating single wire rope according to the dynameter of the current actual weight value of limiter of moment collection and assembly pulley, according to the pulling force of described single wire rope and the first preset ratio coefficient calculations, go out again the mode of described hoisting system pressure, also can adopt the pressure value collecting according to pressure sensor to determine the mode of described hoisting system pressure.
Consider that impact phenomenon easily appears in step 104 while recovering suddenly normal control, preferably by slope, process to recover the corresponding control relation between the opening degree of described electric handle position and described proportional reversing valve.
By above-mentioned to explanation of the present invention, can see the present invention by difference hang heavy duty operating mode and hoisting open the delay time of brake activation valve carried out associated, by the time delay of brake activation valve being solved to the problem of hoisting crane double slide.In addition, in direct ratio with the delay time of opening brake activation valve in order to guarantee hoisting system adherence pressure, preferably first make proportional reversing valve valve opening degree keep certain value, and the constant implementation of this opening degree be exactly hoist brake not electric in the situation that, the scaling signal of electric control handle is exported certain value current control apportioning valve after PLC controller is processed, constant to guarantee apportioning valve opening degree, now only handle as an on-off signal.And hoist brake never electric in electric process, proportional reversing valve valve is the state to the electric current corresponding with handle state with certain value curent change before this, need during this time Zuo Yige slope to process, with the lifting-speed that prevents from bringing, change rapidly to produce and impact.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; Although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the field are to be understood that: still can modify or part technical characterictic is equal to replacement the specific embodiment of the present invention; And not departing from the spirit of technical solution of the present invention, it all should be encompassed in the middle of the technical scheme scope that the present invention asks for protection.
Claims (9)
1. the anti-fall control system of elevator secondary lifting, comprise oil pump, fuel tank, proportional reversing valve, hoist motor, balance cock, hoist brake, brake activation valve and electric control handle, the oil outlet of described oil pump and fuel tank communicate with oil inlet and the return opening of described proportional reversing valve respectively, two hydraulic fluid ports of described hoist motor communicate with two actuator ports of described proportional reversing valve respectively, described brake activation valve is connected with described hoist brake, control the braking of described hoist brake to described hoist motor, described balance cock is arranged on the oil circuit between described hoist motor and described proportional reversing valve, it is characterized in that, also comprise: programmable logic controller (PLC), be connected with described proportional reversing valve, brake activation valve and electric handle respectively, when secondary lifting, according to the hoisting system pressure obtaining, control described brake activation valve Time Delay Opening.
2. the anti-fall control system of elevator secondary lifting according to claim 1, it is characterized in that, also comprise limiter of moment, described programmable logic controller (PLC) is connected with described limiter of moment, according to the dynameter of the current actual weight value of described limiter of moment collection and assembly pulley, calculate the pulling force of single wire rope, then go out described hoisting system pressure according to the pulling force of described single wire rope and the first preset ratio coefficient calculations.
3. the anti-fall control system of elevator secondary lifting according to claim 1, it is characterized in that, also comprise pressure sensor, described programmable logic controller (PLC) is connected with described pressure sensor, and the pressure value collecting according to described pressure sensor is determined described hoisting system pressure.
4. according to the anti-fall control system of elevator secondary lifting described in claim 2 or 3, it is characterized in that, described programmable logic controller (PLC) specifically comprises: handle signal processing unit, system pressure obtain unit, time delay control unit and proportional valve control unit, described handle signal processing unit converts the operation signal receiving from described electric handle to predetermined current value, it is constant that described proportional valve control unit makes described proportional reversing valve obtain the electric opening degree of realizing described proportional reversing valve according to described predetermined current value, and obtain according to described system pressure hoisting system pressure and the second preset ratio coefficient calculations time delay length that unit provides, described time delay control unit is controlled described brake activation valve Time Delay Opening according to described time delay length, after described brake activation valve is opened, recover the corresponding control relation between the opening degree of described electric handle position and described proportional reversing valve.
5. the anti-fall control system of elevator secondary lifting according to claim 4, it is characterized in that, described programmable logic controller (PLC) also comprises: slope processing unit, after described brake activation valve is opened, described slope processing unit processes to recover the corresponding control relation between the opening degree of described electric handle position and described proportional reversing valve by slope.
6. the anti-fall control method of elevator secondary lifting based on the arbitrary described anti-fall control system of elevator secondary lifting of claim 1～5, is characterized in that, comprising:
When elevator secondary lifting operation start, programmable logic controller (PLC) obtains current hoisting system pressure;
According to converting the operation signal receiving from electric handle to predetermined current value, and it is electric according to described predetermined current value, proportional reversing valve to be obtained, and the opening degree of realizing described proportional reversing valve is constant;
According to described hoisting system pressure and the second preset ratio coefficient calculations time delay length, and control brake activation valve Time Delay Opening according to described time delay length;
After described brake activation valve is opened, recover the corresponding control relation between the opening degree of described electric handle position and described proportional reversing valve.
7. the anti-fall control method of elevator secondary lifting according to claim 6, is characterized in that, the operation that described programmable logic controller (PLC) obtains current hoisting system pressure is specially:
According to the dynameter of the current actual weight value of limiter of moment collection and assembly pulley, calculate the pulling force of single wire rope, then go out described hoisting system pressure according to the pulling force of described single wire rope and the first preset ratio coefficient calculations.
8. the anti-fall control method of elevator secondary lifting according to claim 6, is characterized in that, the operation that described programmable logic controller (PLC) obtains current hoisting system pressure is specially:
The pressure value collecting according to pressure sensor is determined described hoisting system pressure.
9. the anti-fall control method of elevator secondary lifting according to claim 6, is characterized in that, the operation of the corresponding control relation between the opening degree of the described electric handle of described recovery position and described proportional reversing valve is specially:
By slope, process to recover the corresponding control relation between the opening degree of described electric handle position and described proportional reversing valve.
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| CN201310456788.2A CN103508353B (en) | 2013-09-29 | 2013-09-29 | The anti-fall control system of elevator secondary lifting and method |
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| CN201310456788.2A CN103508353B (en) | 2013-09-29 | 2013-09-29 | The anti-fall control system of elevator secondary lifting and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104944288A (en) * | 2015-05-13 | 2015-09-30 | 徐州重型机械有限公司 | Crane winch motor pressure memory control system and method |
| CN109132909A (en) * | 2018-10-10 | 2019-01-04 | 三汽车起重机械有限公司 | winding hydraulic control system and crane |
| CN114772493A (en) * | 2022-03-15 | 2022-07-22 | 浙江三一装备有限公司 | Control method and system of winch system and operation machine |
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| CN203529839U (en) * | 2013-09-29 | 2014-04-09 | 徐州重型机械有限公司 | Slippage preventing control system for secondary lifting of winch |
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| JP2000198680A (en) * | 1998-12-28 | 2000-07-18 | Sumitomo Constr Mach Co Ltd | Take-up device for crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104944288A (en) * | 2015-05-13 | 2015-09-30 | 徐州重型机械有限公司 | Crane winch motor pressure memory control system and method |
| CN109132909A (en) * | 2018-10-10 | 2019-01-04 | 三汽车起重机械有限公司 | winding hydraulic control system and crane |
| CN114772493A (en) * | 2022-03-15 | 2022-07-22 | 浙江三一装备有限公司 | Control method and system of winch system and operation machine |
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| Publication number | Publication date |
|---|---|
| CN103508353B (en) | 2015-09-16 |
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